• Ocean Systems Engineering
• /
• v.3 no.1
• /
• pp.71-77
• /
• 2013

The effective tracking area of ultra short baseline (USBL) systems strongly relates to the safety of autonomous underwater vehicles (AUVs). This problem has not been studied previously. A method for determining the effective tracking area using acoustic theory is proposed. Ray acoustic equations are used to draw rays which ascertain the effective space. The sonar equation is established in order to discover the available range of the USBL system and the background noise level using sonar characteristics. The available range defines a hemisphere like enclosure. The overlap of the effective space with the hemisphere is the effective area for USBL systems tracking AUVs. Lake and sea trials show the proposed method's validity.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.4 no.2
• /
• pp.63-68
• /
• 1998

This study is aimed to predict the configuration and tension of a towing cable of a side-scan sonar which plays an important role in developing ocean resources. The governing equations of 3-D static equilibrium equations for a flexible cable are derived and solved using a finite difference method. The forces considered in this paper are effective weights, drag forces due to currents and ship moving, and the tension at both ends of the towing cable. The governing equations are non-linear, so an iteration method is applied to solve the equation. A case study is carried out for several different conditions. The result will be useful for predicting the location of a side-scan sonar and to design the towing system.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.18 no.5
• /
• pp.532-537
• /
• 2015

In this paper, we propose target range estimation method using ghost target in the submarine linear array sonar. Usually, when submarine detect target, they use passive sonar detection to avoid self-disclosure by active sonar transmission. But, originally, passive linear array sonar have limitation for target range estimation and additional processing is required to get target range information. For the case of near-field target, typical range estimation method is using multiple information by multipath effect in underwater environment. Acoustic signal generated from target are propagated along with numerous multipath in underwater environment. Since multipath target signals received in the linear array sonar have different conic angles each other, ghost target is appeared at the bearing different with real target bearing and sonar operator can find these information on the operation console. Under several assumption, this geometric properties can be analysed mathematically and we get the target range by derivation of this geometric equations using measured conic angles of real target and ghost target.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.27 no.2
• /
• pp.221-233
• /
• 2017

The array equations are commonly used for analysis and conceptual design of active sonar projector arrays. Calculation of the radiation impedance matrix poses a major computational bottleneck for the solution of the array equations, which leads to a dramatic increase in computational load as the number of constituent transducers increases. Here, we propose an iteration-based solution method that does not require the calculation of the radiation impedance matrix, as a computationally efficient alternative to the status quo. The validity of the iteration-based analysis is judged against the full finite-element analysis that includes the entire array as well as the medium. The array equations for the 1/3-sector of a cylindrical array comprised of 48 Tonpilz transducers are augmented by the lumped element models, and are solved iteratively for the acoustic and electro-mechanical characteristics. The iteration-based analysis exhibits rapid convergence and accuracy comparable with the FE analysis. Simulations also reveal that the acoustic coupling between transducers has more pronounced effects on the electro-mechanical characteristics of individual transducers than the acoustic performance of the array.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.20 no.3
• /
• pp.328-336
• /
• 2017

The goal of this study is simulation of optimal search pattern of ships based on performance surface which are reflected underwater environmental. The process is as follows. First, temporal and spatial environmental database are extracted in complex environment and input hull mounted SONAR system parameters. The environmental database and SONAR system parameters are substituted to SONAR equations, and calculate signal excess, detection probability, detection range. And then, the performance surface, which can be used to provide operational insight of SONAR detection performance, are pictorialized. Finally, optimal search pattern of ships are simulated using genetic algorithm based on performance surface. And then, we certify optimal search pattern in various ways.

• Journal of Ocean Engineering and Technology
• /
• v.18 no.4 s.59
• /
• pp.33-39
• /
• 2004

This paper presents a hybrid underwater navigation system for unmanned underwater vehicles, using an additional range sonar, where the navigation system is based on inertial and Doppler velocity sensors. Conventional underwater navigation systems are generally based on an inertial measurement unit (IMU) and a Doppler velocity log (DVL), accompanying a magnetic compass and a depth sensor. Although the conventional navigation systems update the bias errors of inertial sensors and the scale effects of DVL, the estimated position slowly drifts as time passes. This paper proposes a measurement model that uses the range sonar to improve the performance of the IMU-DVL navigation system, for extended operation of underwater vehicles. The proposed navigation model includes the bias errors of IMU, the scale effects of VL, and the bias error of the range sonar. An extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation, when the external measurements are available. To illustrate the effectiveness of the hybrid navigation system, simulations were conducted with the 6-d.o.f. equations of motion of an AUV in lawn-mowing survey mode.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.9 no.4
• /
• pp.446-459
• /
• 2017

Naval ships are assigned many and varied missions. Their performance is critical for mission success, and depends on the specifications of the components. This is why performance analyses of naval ships are required at the initial design stage. Since the design and construction of naval ships take a very long time and incurs a huge cost, Modeling and Simulation (M & S) is an effective method for performance analyses. Thus in this study, a simulation core is proposed to analyze the performance of naval ships considering their specifications. This simulation core can perform the engineering level of simulations, considering the mathematical models for naval ships, such as maneuvering equations and passive sonar equations. Also, the simulation models of the simulation core follow Discrete EVent system Specification (DEVS) and Discrete Time System Specification (DTSS) formalisms, so that simulations can progress over discrete events and discrete times. In addition, applying DEVS and DTSS formalisms makes the structure of simulation models flexible and reusable. To verify the applicability of this simulation core, such a simulation core was applied to simulations for the performance analyses of a submarine in an Anti-SUrface Warfare (ASUW) mission. These simulations were composed of two scenarios. The first scenario of submarine diving carried out maneuvering performance analysis by analyzing the pitch angle variation and depth variation of the submarine over time. The second scenario of submarine detection carried out detection performance analysis by analyzing how well the sonar of the submarine resolves adjacent targets. The results of these simulations ensure that the simulation core of this study could be applied to the performance analyses of naval ships considering their specifications.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.05a
• /
• pp.1062-1073
• /
• 2007

Acoustic Target Strength (TS) is a major parameter of the active sonar equation, which indicates the ratio of the radiated intensity from the source to the re-radiated intensity by a target. In developing a TS equation, it is assumed that the radiated pressure is known and the re-radiated intensity is unknown. This research provides a TS equation for polygonal plates, which is applicable to near field acoustics. In this research, Helmholtz-Kirchhoff formula is used as the primary equation for solving the re-radiated pressure field; the primary equation contains a surface (double) integral representation. The double integral representation can be reduced to a closed form, which involves only a line (single) integral representation of the boundary of the surface area by applying Stoke's theorem. Use of such line integral representations can reduce the cost of numerical calculation. Also Kirchhoff approximation is used to solve the surface values such as pressure and particle velocity. Finally, a generalized definition of Sonar Cross Section (SCS) that is applicable to near field is suggested. The TS equation for polygonal plates in near field is developed using the three prescribed statements; the redection to line integral representation, Kirchhoff approximation and a generalized definition of SCS. The equation developed in this research is applicable to near field, and therefore, no approximations are allowed except the Kirchhoff approximation. However, examinations with various types of models for reliability show that the equation has good performance in its applications. To analyze a general shape of model, a submarine type model was selected and successfully analyzed.

• Journal of the Society of Naval Architects of Korea
• /
• v.38 no.4
• /
• pp.23-29
• /
• 2001

An Obstacle Avoidance System(OAS) of Underwater Vehicle(UV) in diving and steering plane is investigated. The concept of Imaginary Reference Line(IRL), which acts as the seabed in the diving plane, is introduced to apply the diving plane avoidance algorithm to the steering plane algorithm. Furthermore, the distance to the obstacle and the slope information of the obstacle are used for more efficient and safer avoidance. As for the control algorithm, the sliding mode controller is adopted to consider the nonlinearity of the equations of motion and to get the robustness of the designed system. To verify the obstacle avoidance ability of the designed system, numerical simulations are carried out on the cases of some presumed three-dimensional obstacles. The effects of the sonar and the clearance factor used in avoidance algorithm are also investigated. Through these, it is found that the designed avoidance system can successfully cope with various obstacles and the detection range of sonar is proven to bea significant parameter to the performance of the avoidance.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.4 no.1
• /
• pp.9-19
• /
• 2012

A set of equations of motion is derived for vibratory motions of an underwater cable connected to a moving vehicle at one end and with drogues at the other end. From the static analysis, cable configurations are obtained for different vehicle speeds and towing pretensions are determined by fluid resistance of drogues. Also the dynamic analysis is required to predict its vibratory motion. Nonlinear fluid drag forces greatly influence the dynamic tension. In this study, a numerical analysis program was developed to find out the characteristic of cable behaviour. The motion is described in terms of space and time coordinates based on Chebyshev polynomial expansions. For the spatial integration the collocation method is employed and the Newmark method is applied for the time integration. Dynamic tensions, displacements, velocities, accelerations were predicted in the time domain while natural frequencies and transfer functions were obtained in the frequency domain.